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Commit 1ac6cd32 authored by Don Gagne's avatar Don Gagne
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FW Landing Glide Slope support

parent 2296ed0d
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Showing with 138 additions and 113 deletions
src/MissionManager/FWLandingPattern.FactMetaData.json
View file @ 1ac6cd32
...@@ -44,12 +44,12 @@ ...@@ -44,12 +44,12 @@
"defaultValue": 0.0 "defaultValue": 0.0
}, },
{ {
"name": "DescentRate", "name": "GlideSlope",
"shortDescription": "Descent rate between landing and loiter altitude.", "shortDescription": "The glide slope between the loiter and landing point.",
"type": "double", "type": "double",
"units": "%", "units": "deg",
"min": 0.1, "min": 0.1,
"max": 100, "max": 90,
"decimalPlaces": 1, "decimalPlaces": 1,
"defaultValue": 12.0 "defaultValue": 12.0
} }
......
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ 1ac6cd32
...@@ -25,15 +25,19 @@ const char* FixedWingLandingComplexItem::landingHeadingName = "LandingHead ...@@ -25,15 +25,19 @@ const char* FixedWingLandingComplexItem::landingHeadingName = "LandingHead
const char* FixedWingLandingComplexItem::loiterAltitudeName = "LoiterAltitude"; const char* FixedWingLandingComplexItem::loiterAltitudeName = "LoiterAltitude";
const char* FixedWingLandingComplexItem::loiterRadiusName = "LoiterRadius"; const char* FixedWingLandingComplexItem::loiterRadiusName = "LoiterRadius";
const char* FixedWingLandingComplexItem::landingAltitudeName = "LandingAltitude"; const char* FixedWingLandingComplexItem::landingAltitudeName = "LandingAltitude";
const char* FixedWingLandingComplexItem::fallRateName = "DescentRate"; const char* FixedWingLandingComplexItem::glideSlopeName = "GlideSlope";
const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey = "loiterCoordinate"; const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey = "loiterCoordinate";
const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey = "loiterRadius"; const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey = "loiterRadius";
const char* FixedWingLandingComplexItem::_jsonLoiterClockwiseKey = "loiterClockwise"; const char* FixedWingLandingComplexItem::_jsonLoiterClockwiseKey = "loiterClockwise";
const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey = "loiterAltitudeRelative";
const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey = "landCoordinate"; const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey = "landCoordinate";
const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey = "landAltitudeRelative"; const char* FixedWingLandingComplexItem::_jsonValueSetIsDistanceKey = "valueSetIsDistance";
const char* FixedWingLandingComplexItem::_jsonAltitudesAreRelativeKey = "altitudesAreRelative";
// Usage deprecated
const char* FixedWingLandingComplexItem::_jsonFallRateKey = "fallRate"; const char* FixedWingLandingComplexItem::_jsonFallRateKey = "fallRate";
const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey = "landAltitudeRelative";
const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey = "loiterAltitudeRelative";
FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent) FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem (vehicle, parent) : ComplexMissionItem (vehicle, parent)
...@@ -47,10 +51,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -47,10 +51,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
, _loiterRadiusFact (_metaDataMap[loiterRadiusName]) , _loiterRadiusFact (_metaDataMap[loiterRadiusName])
, _landingHeadingFact (_metaDataMap[landingHeadingName]) , _landingHeadingFact (_metaDataMap[landingHeadingName])
, _landingAltitudeFact (_metaDataMap[landingAltitudeName]) , _landingAltitudeFact (_metaDataMap[landingAltitudeName])
, _fallRateFact (_metaDataMap[fallRateName]) , _glideSlopeFact (_metaDataMap[glideSlopeName])
, _loiterClockwise (true) , _loiterClockwise (true)
, _loiterAltitudeRelative (true) , _altitudesAreRelative (true)
, _landingAltitudeRelative (true) , _valueSetIsDistance (true)
{ {
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml"; _editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
...@@ -66,6 +70,8 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -66,6 +70,8 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange); connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange); connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
connect(&_glideSlopeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_glideSlopeChanged);
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(&_landingDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
...@@ -74,11 +80,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -74,11 +80,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterClockwiseChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(this, &FixedWingLandingComplexItem::loiterClockwiseChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty); connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::landingAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged); connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::landingAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged); connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
} }
int FixedWingLandingComplexItem::lastSequenceNumber(void) const int FixedWingLandingComplexItem::lastSequenceNumber(void) const
...@@ -99,7 +104,7 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems) ...@@ -99,7 +104,7 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
{ {
QJsonObject saveObject; QJsonObject saveObject;
saveObject[JsonHelper::jsonVersionKey] = 1; saveObject[JsonHelper::jsonVersionKey] = 2;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
...@@ -116,10 +121,10 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems) ...@@ -116,10 +121,10 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
JsonHelper::saveGeoCoordinate(coordinate, true /* writeAltitude */, jsonCoordinate); JsonHelper::saveGeoCoordinate(coordinate, true /* writeAltitude */, jsonCoordinate);
saveObject[_jsonLandingCoordinateKey] = jsonCoordinate; saveObject[_jsonLandingCoordinateKey] = jsonCoordinate;
saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble(); saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble();
saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise; saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise;
saveObject[_jsonLoiterAltitudeRelativeKey] = _loiterAltitudeRelative; saveObject[_jsonAltitudesAreRelativeKey] = _altitudesAreRelative;
saveObject[_jsonLandingAltitudeRelativeKey] = _landingAltitudeRelative; saveObject[_jsonValueSetIsDistanceKey] = _valueSetIsDistance;
missionItems.append(saveObject); missionItems.append(saveObject);
} }
...@@ -142,9 +147,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq ...@@ -142,9 +147,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
{ _jsonLoiterCoordinateKey, QJsonValue::Array, true }, { _jsonLoiterCoordinateKey, QJsonValue::Array, true },
{ _jsonLoiterRadiusKey, QJsonValue::Double, true }, { _jsonLoiterRadiusKey, QJsonValue::Double, true },
{ _jsonLoiterClockwiseKey, QJsonValue::Bool, true }, { _jsonLoiterClockwiseKey, QJsonValue::Bool, true },
{ _jsonLoiterAltitudeRelativeKey, QJsonValue::Bool, true },
{ _jsonLandingCoordinateKey, QJsonValue::Array, true }, { _jsonLandingCoordinateKey, QJsonValue::Array, true },
{ _jsonLandingAltitudeRelativeKey, QJsonValue::Bool, true },
}; };
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false; return false;
...@@ -161,6 +164,31 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq ...@@ -161,6 +164,31 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_ignoreRecalcSignals = true; _ignoreRecalcSignals = true;
int version = complexObject[JsonHelper::jsonVersionKey].toInt();
if (version == 1) {
bool loiterAltitudeRelative = complexObject[_jsonLoiterAltitudeRelativeKey].toBool();
bool landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
if (loiterAltitudeRelative != landingAltitudeRelative) {
qgcApp()->showMessage(tr("Fixed Wing Landing Pattern: "
"Setting the loiter and landing altitudes with different settings for altitude relative is no longer supported. "
"Both have been set to altitude relative. Be sure to adjust/check your plan prior to flight."));
_altitudesAreRelative = true;
} else {
_altitudesAreRelative = loiterAltitudeRelative;
}
} else if (version == 2) {
QList<JsonHelper::KeyValidateInfo> v2KeyInfoList = {
{ _jsonAltitudesAreRelativeKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, v2KeyInfoList, errorString)) {
return false;
}
} else {
errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
_ignoreRecalcSignals = false;
return false;
}
QGeoCoordinate coordinate; QGeoCoordinate coordinate;
if (!JsonHelper::loadGeoCoordinate(complexObject[_jsonLoiterCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) { if (!JsonHelper::loadGeoCoordinate(complexObject[_jsonLoiterCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
return false; return false;
...@@ -175,9 +203,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq ...@@ -175,9 +203,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_landingAltitudeFact.setRawValue(coordinate.altitude()); _landingAltitudeFact.setRawValue(coordinate.altitude());
_loiterRadiusFact.setRawValue(complexObject[_jsonLoiterRadiusKey].toDouble()); _loiterRadiusFact.setRawValue(complexObject[_jsonLoiterRadiusKey].toDouble());
_loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool(); _loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool();
_loiterAltitudeRelative = complexObject[_jsonLoiterAltitudeRelativeKey].toBool(); _altitudesAreRelative = complexObject[_jsonAltitudesAreRelativeKey].toBool();
_landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
_landingCoordSet = true; _landingCoordSet = true;
...@@ -215,7 +242,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, ...@@ -215,7 +242,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items,
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0); float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_NAV_LOITER_TO_ALT, MAV_CMD_NAV_LOITER_TO_ALT,
_loiterAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, _altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
1.0, // Heading required = true 1.0, // Heading required = true
loiterRadius, // Loiter radius loiterRadius, // Loiter radius
0.0, // param 3 - unused 0.0, // param 3 - unused
...@@ -230,7 +257,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, ...@@ -230,7 +257,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items,
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_NAV_LAND, MAV_CMD_NAV_LAND,
_landingAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, _altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4 0.0, 0.0, 0.0, 0.0, // param 1-4
_landingCoordinate.latitude(), _landingCoordinate.latitude(),
_landingCoordinate.longitude(), _landingCoordinate.longitude(),
...@@ -261,6 +288,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V ...@@ -261,6 +288,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() == 1.0) { missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() == 1.0) {
return false; return false;
} }
MAV_FRAME landPointFrame = missionItemLand.frame();
item = visualItems->value<SimpleMissionItem*>(lastItem--); item = visualItems->value<SimpleMissionItem*>(lastItem--);
if (!item) { if (!item) {
...@@ -268,7 +296,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V ...@@ -268,7 +296,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
} }
MissionItem& missionItemLoiter = item->missionItem(); MissionItem& missionItemLoiter = item->missionItem();
if (missionItemLoiter.command() != MAV_CMD_NAV_LOITER_TO_ALT || if (missionItemLoiter.command() != MAV_CMD_NAV_LOITER_TO_ALT ||
!(missionItemLoiter.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT || missionItemLoiter.frame() == MAV_FRAME_GLOBAL) || missionItemLoiter.frame() != landPointFrame ||
missionItemLoiter.param1() != 1.0 || missionItemLoiter.param3() != 0 || missionItemLoiter.param4() != 1.0) { missionItemLoiter.param1() != 1.0 || missionItemLoiter.param3() != 0 || missionItemLoiter.param4() != 1.0) {
return false; return false;
} }
...@@ -289,14 +317,13 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V ...@@ -289,14 +317,13 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
complexItem->_ignoreRecalcSignals = true; complexItem->_ignoreRecalcSignals = true;
complexItem->_loiterAltitudeRelative = missionItemLoiter.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; complexItem->_altitudesAreRelative = landPointFrame == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2())); complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2()));
complexItem->_loiterClockwise = missionItemLoiter.param2() > 0; complexItem->_loiterClockwise = missionItemLoiter.param2() > 0;
complexItem->_loiterCoordinate.setLatitude(missionItemLoiter.param5()); complexItem->_loiterCoordinate.setLatitude(missionItemLoiter.param5());
complexItem->_loiterCoordinate.setLongitude(missionItemLoiter.param6()); complexItem->_loiterCoordinate.setLongitude(missionItemLoiter.param6());
complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7()); complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7());
complexItem->_landingAltitudeRelative = missionItemLand.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_landingCoordinate.setLatitude(missionItemLand.param5()); complexItem->_landingCoordinate.setLatitude(missionItemLand.param5());
complexItem->_landingCoordinate.setLongitude(missionItemLand.param6()); complexItem->_landingCoordinate.setLongitude(missionItemLand.param6());
complexItem->_landingAltitudeFact.setRawValue(missionItemLand.param7()); complexItem->_landingAltitudeFact.setRawValue(missionItemLand.param7());
...@@ -418,6 +445,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) ...@@ -418,6 +445,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
// Adjusted: // Adjusted:
// loiter // loiter
// loiter tangent // loiter tangent
// glide slope
if (!_ignoreRecalcSignals && _landingCoordSet) { if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values // These are our known values
...@@ -442,6 +470,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) ...@@ -442,6 +470,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate); emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
emit loiterCoordinateChanged(_loiterCoordinate); emit loiterCoordinateChanged(_loiterCoordinate);
emit coordinateChanged(_loiterCoordinate); emit coordinateChanged(_loiterCoordinate);
_calcGlideSlope();
_ignoreRecalcSignals = false; _ignoreRecalcSignals = false;
} }
} }
...@@ -467,6 +496,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void) ...@@ -467,6 +496,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
// loiter tangent // loiter tangent
// heading // heading
// distance // distance
// glide slope
if (!_ignoreRecalcSignals && _landingCoordSet) { if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values // These are our known values
...@@ -493,6 +523,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void) ...@@ -493,6 +523,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
_landingHeadingFact.setRawValue(heading); _landingHeadingFact.setRawValue(heading);
_landingDistanceFact.setRawValue(landToTangentDistance); _landingDistanceFact.setRawValue(landToTangentDistance);
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate); emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
_calcGlideSlope();
_ignoreRecalcSignals = false; _ignoreRecalcSignals = false;
} }
} }
...@@ -519,3 +550,20 @@ void FixedWingLandingComplexItem::applyNewAltitude(double newAltitude) ...@@ -519,3 +550,20 @@ void FixedWingLandingComplexItem::applyNewAltitude(double newAltitude)
{ {
_loiterAltitudeFact.setRawValue(newAltitude); _loiterAltitudeFact.setRawValue(newAltitude);
} }
void FixedWingLandingComplexItem::_glideSlopeChanged(void)
{
if (!_ignoreRecalcSignals) {
double landingAltDifference = _loiterAltitudeFact.rawValue().toDouble() - _landingAltitudeFact.rawValue().toDouble();
double glideSlope = _glideSlopeFact.rawValue().toDouble();
_landingDistanceFact.setRawValue(landingAltDifference / qTan(qDegreesToRadians(glideSlope)));
}
}
void FixedWingLandingComplexItem::_calcGlideSlope(void)
{
double landingAltDifference = _loiterAltitudeFact.rawValue().toDouble() - _landingAltitudeFact.rawValue().toDouble();
double landingDistance = _landingDistanceFact.rawValue().toDouble();
_glideSlopeFact.setRawValue(qRadiansToDegrees(qAtan(landingAltDifference / landingDistance)));
}
src/MissionManager/FixedWingLandingComplexItem.h
View file @ 1ac6cd32
...@@ -24,26 +24,26 @@ class FixedWingLandingComplexItem : public ComplexMissionItem ...@@ -24,26 +24,26 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
public: public:
FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL); FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT) Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT) Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT) Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT) Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT) Q_PROPERTY(bool valueSetIsDistance MEMBER _valueSetIsDistance NOTIFY valueSetIsDistanceChanged)
Q_PROPERTY(Fact* fallRate READ fallRate CONSTANT) Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged) Q_PROPERTY(Fact* glideSlope READ glideSlope CONSTANT)
Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged) Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged) Q_PROPERTY(bool altitudesAreRelative MEMBER _altitudesAreRelative NOTIFY altitudesAreRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged) Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged) Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterAltitude (void) { return &_loiterAltitudeFact; } Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) { return &_loiterRadiusFact; } Fact* loiterRadius (void) { return &_loiterRadiusFact; }
Fact* landingAltitude (void) { return &_landingAltitudeFact; } Fact* landingAltitude (void) { return &_landingAltitudeFact; }
Fact* landingDistance (void) { return &_landingDistanceFact; } Fact* landingDistance (void) { return &_landingDistanceFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; } Fact* landingHeading (void) { return &_landingHeadingFact; }
Fact* fallRate (void) { return &_fallRateFact; } Fact* glideSlope (void) { return &_glideSlopeFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; } QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; } QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; } QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
...@@ -81,8 +81,8 @@ public: ...@@ -81,8 +81,8 @@ public:
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final; void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final; void applyNewAltitude (double newAltitude) final;
bool coordinateHasRelativeAltitude (void) const final { return _loiterAltitudeRelative; } bool coordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _landingAltitudeRelative; } bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateSameAsEntry (void) const final { return false; } bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final; void setDirty (bool dirty) final;
...@@ -97,7 +97,7 @@ public: ...@@ -97,7 +97,7 @@ public:
static const char* loiterRadiusName; static const char* loiterRadiusName;
static const char* landingHeadingName; static const char* landingHeadingName;
static const char* landingAltitudeName; static const char* landingAltitudeName;
static const char* fallRateName; static const char* glideSlopeName;
signals: signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate); void loiterCoordinateChanged (QGeoCoordinate coordinate);
...@@ -105,21 +105,23 @@ signals: ...@@ -105,21 +105,23 @@ signals:
void landingCoordinateChanged (QGeoCoordinate coordinate); void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet); void landingCoordSetChanged (bool landingCoordSet);
void loiterClockwiseChanged (bool loiterClockwise); void loiterClockwiseChanged (bool loiterClockwise);
void loiterAltitudeRelativeChanged (bool loiterAltitudeRelative); void altitudesAreRelativeChanged (bool altitudesAreRelative);
void landingAltitudeRelativeChanged (bool loiterAltitudeRelative); void valueSetIsDistanceChanged (bool valueSetIsDistance);
private slots: private slots:
void _recalcFromHeadingAndDistanceChange(void); void _recalcFromHeadingAndDistanceChange (void);
void _recalcFromCoordinateChange(void); void _recalcFromCoordinateChange (void);
void _recalcFromRadiusChange(void); void _recalcFromRadiusChange (void);
void _updateLoiterCoodinateAltitudeFromFact(void); void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact(void); void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading(double angle); double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle(double heading); double _headingToMathematicAngle (double heading);
void _setDirty(void); void _setDirty (void);
void _glideSlopeChanged (void);
private: private:
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle); QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle);
void _calcGlideSlope (void);
int _sequenceNumber; int _sequenceNumber;
bool _dirty; bool _dirty;
...@@ -136,18 +138,22 @@ private: ...@@ -136,18 +138,22 @@ private:
Fact _loiterRadiusFact; Fact _loiterRadiusFact;
Fact _landingHeadingFact; Fact _landingHeadingFact;
Fact _landingAltitudeFact; Fact _landingAltitudeFact;
Fact _fallRateFact; Fact _glideSlopeFact;
bool _loiterClockwise; bool _loiterClockwise;
bool _loiterAltitudeRelative; bool _altitudesAreRelative;
bool _landingAltitudeRelative; bool _valueSetIsDistance;
static const char* _jsonLoiterCoordinateKey; static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey; static const char* _jsonLoiterRadiusKey;
static const char* _jsonLoiterClockwiseKey; static const char* _jsonLoiterClockwiseKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonLandingCoordinateKey; static const char* _jsonLandingCoordinateKey;
static const char* _jsonValueSetIsDistanceKey;
static const char* _jsonAltitudesAreRelativeKey;
// Only in older file formats
static const char* _jsonLandingAltitudeRelativeKey; static const char* _jsonLandingAltitudeRelativeKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonFallRateKey; static const char* _jsonFallRateKey;
}; };
......
src/PlanView/FWLandingPatternEditor.qml
View file @ 1ac6cd32
...@@ -34,6 +34,8 @@ Rectangle { ...@@ -34,6 +34,8 @@ Rectangle {
property real _margin: ScreenTools.defaultFontPixelWidth / 2 property real _margin: ScreenTools.defaultFontPixelWidth / 2
property real _spacer: ScreenTools.defaultFontPixelWidth / 2 property real _spacer: ScreenTools.defaultFontPixelWidth / 2
ExclusiveGroup { id: distanceGlideGroup }
Column { Column {
id: editorColumn id: editorColumn
anchors.margins: _margin anchors.margins: _margin
...@@ -58,17 +60,6 @@ Rectangle { ...@@ -58,17 +60,6 @@ Rectangle {
Item { width: 1; height: _spacer } Item { width: 1; height: _spacer }
QGCCheckBox { QGCCheckBox {
id: loiterAltRelative
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.loiterAltitudeRelative
onClicked: missionItem.loiterAltitudeRelative = checked
}
Item { width: 1; height: _spacer }
QGCCheckBox {
anchors.left: loiterAltRelative.left
text: qsTr("Loiter clockwise") text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise checked: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked onClicked: missionItem.loiterClockwise = checked
...@@ -98,53 +89,33 @@ Rectangle { ...@@ -98,53 +89,33 @@ Rectangle {
} }
QGCRadioButton { QGCRadioButton {
id: useLandingDistance id: specifyLandingDistance
text: qsTr("Landing dist") text: qsTr("Landing Dist")
checked: !useFallRate.checked checked: missionItem.valueSetIsDistance
onClicked: { exclusiveGroup: distanceGlideGroup
useFallRate.checked = false onClicked: missionItem.valueSetIsDistance = checked
missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value) Layout.fillWidth: true
}
Layout.fillWidth: true
} }
FactTextField { FactTextField {
fact: missionItem.landingDistance fact: missionItem.landingDistance
enabled: useLandingDistance.checked enabled: specifyLandingDistance.checked
Layout.fillWidth: true Layout.fillWidth: true
} }
QGCRadioButton { QGCRadioButton {
id: useFallRate id: specifyGlideSlope
text: qsTr("Descent rate") text: qsTr("Glide Slope")
checked: !useLandingDistance.checked checked: !missionItem.valueSetIsDistance
onClicked: { exclusiveGroup: distanceGlideGroup
useLandingDistance.checked = false onClicked: missionItem.valueSetIsDistance = checked
missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value) Layout.fillWidth: true
}
Layout.fillWidth: true
} }
FactTextField { FactTextField {
fact: missionItem.fallRate fact: missionItem.glideSlope
enabled: useFallRate.checked enabled: specifyGlideSlope.checked
Layout.fillWidth: true Layout.fillWidth: true
}
Connections {
target: missionItem.landingDistance
onValueChanged: {
missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value)
}
}
Connections {
target: missionItem.fallRate
onValueChanged: {
missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value)
}
} }
} }
...@@ -152,9 +123,9 @@ Rectangle { ...@@ -152,9 +123,9 @@ Rectangle {
QGCCheckBox { QGCCheckBox {
anchors.right: parent.right anchors.right: parent.right
text: qsTr("Altitude relative to home") text: qsTr("Altitudes relative to home")
checked: missionItem.landingAltitudeRelative checked: missionItem.altitudesAreRelative
onClicked: missionItem.landingAltitudeRelative = checked onClicked: missionItem.altitudesAreRelative = checked
} }
} }
......
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